相关论文: EchoForce: Continuous Grip Force Estimation from S…
Haptic feedback has been a long-missed feature in robotic-assisted surgery, one that would allow surgeons to perceive tissue properties and apply controlled forces during delicate procedures. Although commercial robotic systems have begun…
Wearable electronic equipment is constantly evolving and is increasing the integration of humans with technology. Available in various forms, these flexible and bendable devices sense and can measure the physiological and muscular changes…
Grasping objects under uncertainty remains an open problem in robotics research. This uncertainty is often due to noisy or partial observations of the object pose or shape. To enable a robot to react appropriately to unforeseen effects, it…
Current upper extremity outcome measures for persons with cervical spinal cord injury (cSCI) lack the ability to directly collect quantitative information in home and community environments. A wearable first-person (egocentric) camera…
Clinical myoelectric prostheses lack the sensory feedback and sufficient dexterity required to complete activities of daily living efficiently and accurately. Providing haptic feedback of relevant environmental cues to the user or imbuing…
Surface electromyography (sEMG) is a popular bio-signal used for controlling prostheses and finger gesture recognition mechanisms. Myoelectric prostheses are costly, and most commercially available sEMG acquisition systems are not suitable…
Properly handling delicate produce with robotic manipulators is a major part of the future role of automation in agricultural harvesting and processing. Grasping with the correct amount of force is crucial in not only ensuring proper grip…
Existing grasp synthesis methods are either analytical or data-driven. The former one is oftentimes limited to specific application scope. The latter one depends heavily on demonstrations, thus suffers from generalization issues; e.g.,…
Estimation of a hand grip force is essential for the understanding of force pattern during the execution of assembly or disassembly operations. Human demonstration of a correct way of doing an operation is a powerful source of information…
Smart earbuds are recognized as a new wearable platform for personal-scale human motion sensing. However, due to the interference from head movement or background noise, commonly-used modalities (e.g. accelerometer and microphone) fail to…
Fine dexterous manipulation requires reactive control based on rich sensing of manipulator-object interactions. Tactile sensing arrays provide rich contact information across the manipulator's surface. However their implementation faces two…
Anthropomorphic underactuated hands are valued for their structural simplicity and inherent adaptability. However, the uncertainty arising from interdependent joint motions makes it challenging to capture various grasp states during…
Vision-based tactile sensors have gained extensive attention in the robotics community. The sensors are highly expected to be capable of extracting contact information i.e. haptic information during in-hand manipulation. This nature of…
Hand-wearable robots, specifically exoskeletons, are designed to aid hands in daily activities, playing a crucial role in post-stroke rehabilitation and assisting the elderly. Our contribution to this field is a textile robotic glove with…
Robotic manipulation can benefit from wrist-mounted force/torque (F/T) sensors, but conventional F/T sensors can be expensive, difficult to install, and damaged by high loads. We present Visual Force/Torque Sensing (VFTS), a method that…
Human gait is a widely used biometric trait for user identification and recognition. Given the wide-spreading, steady diffusion of ear-worn wearables (Earables) as the new frontier of wearable devices, we investigate the feasibility of…
Small form factor limits physical input space in earable (i.e., ear-mounted wearable) devices. Off-device earable inputs in alternate mid-air and on-skin around-ear interaction spaces using uni-manual gestures can address this input space…
Acoustic feedback is a critical indicator for assessing the contact condition between the tool and the workpiece when humans perform grinding tasks with rotary tools. In contrast, robotic grinding systems typically rely on force sensing,…
The grip force required to handle an object depends on the object's mass and the friction coefficient of its surface. The control of grip force in myoelectric prosthesis is crucial for handling objects adequately. In the current paper we…
Autonomous grasping of novel objects that are previously unseen to a robot is an ongoing challenge in robotic manipulation. In the last decades, many approaches have been presented to address this problem for specific robot hands. The…